Discrete time sliding mode control of robotic manipulators: Development and experimental validation

This paper presents a robust discrete-time sliding mode control coupled with an uncertainty estimator designed for planar robotic manipulators. Experimental evidence shows satisfactory trajectory tracking performances and noticeable robustness in the presence of model inaccuracies, disturbances and payload perturbations. Ultimate boundedness of the tracking errors is proved, as well as boundedness of the estimation error with arbitrary precision.     

Multidimensional Cube Packing

We consider the d-dimensional cube packing problem (d-CPP): given a list L of d-dimensional cubes and (an unlimited quantity of) d-dimensional unit-capacity cubes, called bins, find a packing of L into the minimum number of bins. We present two approximation algorithms for d-CPP, for fixed d. The first algorithm has an asymptotic performance bound that can be made arbitrarily close to 2 – (1/2)^d . The second algorithm is an improvement of the first and has an asymptotic performance bound that can be made arbitrarily close to 2 – (2/3)^d . To our knowledge, these results improve the bounds known so far for d = 2 and d = 3, and are the first results with bounds that are not exponential in the dimension.     

Multipurpose modular experimental station for the DiProI beamline of Fermi@Elettra free electron laser

We present a compact modular apparatus with a flexible design that will be operated at the DiProI beamline of the Fermi@Elettra free electron laser (FEL) for performing static and time-resolved coherent diffraction imaging experiments, taking advantage of the full coherence and variable polarization of the short seeded FEL pulses. The apparatus has been assembled and the potential of the experimental setup is demonstrated by commissioning tests with coherent synchrotron radiation. This multipurpose experimental station will be open to general users after installation at the Fermi@Elettra free electron laser in 2011.     

Building a bridge between performance management,radical innovation,and innovation networks: A systematic literature review

Research on performance management (PM) of networks and radical innovation has largely developed along two isolated paths. On the one hand, a growing body of knowledge addresses the use of performance management systems in the context of networks (notably for production and incremental innovation). On the other hand, radical innovation scholars have shown how innovation initiatives that are more uncertain demand the use of new approaches (e.g., new project management routines or different evaluative tools for portfolios). Some scholars even suggest that traditional PM may suppress radical innovation. Our study takes a different approach. It aims to bridge radical innovation and network performance management through a systematic review of the literature. Here, we adopt a hybrid approach that combines bibliometrics with content analysis. Whereas the literature often separates the issues of network performance management and radical innovation, our contribution expands the theory of network management and radical innovation by developing a conceptual framework based on these concepts, thus combining them. We also offer suggestions for further research on this approach. Our framework suggests that overall, the performance management of radical innovation networks presents different features (e.g., recursive rather than linear) and constructs (e.g., openness and unintended performance) from those of innovation network management.     

A two-way coupled multiscale model for predicting damage-associated performance of asphaltic roadways

This paper presents a quasi-static multiscale computational model with its verification and rational applications to mechanical behavior predictions of asphaltic roadways that are subject to viscoelastic deformation and fracture damage. The multiscale model is based on continuum thermo-mechanics and is implemented using a finite element formulation. Two length scales (global and local) are two-way coupled in the model framework by linking a homogenized global scale to a heterogeneous local scale representative volume element. With the unique multiscaling and the use of the finite element technique, it is possible to take into account the effect of material heterogeneity, viscoelasticity, and anisotropic damage accumulation in the small scale on the overall performance of larger scale structures. Along with the theoretical model formulation, two example problems are shown: one to verify the model and its computational benefits through comparisons with analytical solutions and single-scale simulation results, and the other to demonstrate the applicability of the approach to model general roadway structures where material viscoelasticity and cohesive zone fracture are involved.